JPS63296745A - Stand apparatus or medical optical machinery - Google Patents

Abstract

PURPOSE:To develop the function suitable for actual medical work to the max., by supporting an upper structure at one end parts of the uppermost parallel links of a multistage parallel link mechanism in a freely up-and-down movable manner and providing a counter wt. setting off the wt. of the upper structure to the other end parts of the lowermost parallel links. CONSTITUTION:A holding part 22 and a cylindrical part 60 are mounted as a part of a multistage parallel link mechanism 61 and all of the structures (wts.) above a center shaft 21 are supported in a freely up-and-down movable manner by the multistage parallel link mechanism 61. The lower parallel links 65 of said link mechanism 61 are pivotally supported by the revolving shaft 67 provided to the leading end of the protruding part 66 of a stand shaft part 63 and the upper parallel links 64 thereof are pivotally supported above the lower parallel links 64 by the revolving shaft 68 in the vicinity of the stand shaft part 63. The upper parallel links 64 and the lower parallel links 65 are connected by connection links 69 so as to be operated in conjunction with each other. Further, the third counter wt. W3 for setting the wts. of the structures above the above-mentioned center shaft 21 is arranged to the rear end parts of the lower parallel links 65.

Description

[Detailed description of the invention] <Industrial application field> The present invention relates to a stand device for medical optical equipment.

<Conventional technology and its problems>"Medical optical equipment" is used in brain surgery, heart surgery, etc.
The surgery is performed while observing the affected area using a surgical microscope, and is a very delicate and nerve-wracking surgery that often takes a long time. Prolonging the operation time in this way increases physical and mental fatigue for both the patient and the doctor, which is undesirable.

Medical optical instruments such as surgical microscopes play a very important role in such advanced surgeries, and the ease of use of medical optical instruments directly leads to shortening of surgical time.

The ease of use of medical optical equipment is defined by how accurately and quickly the medical optical equipment can be positioned to the target area (affected area), and how it can be moved from the surgical area and positioned at any preparatory position when it is not needed. Whether it can be fixed and whether the observation point once fixed does not shift, etc., depend much more on the stand that supports the medical optical equipment than on the medical optical equipment itself.

Therefore, various stand devices for medical optical equipment have been developed (see Japanese Patent Application Laid-Open No. 56-32110), but these are not necessarily easy to operate when considering actual medical work. Met.

The present invention has been made by focusing on such conventional technology, and provides a stand for medical optical equipment that is suitable for practical medical work and that can maximize the functions of the medical optical equipment. The purpose is to develop a device.

<Means for Solving the Problems> The stand device for medical optical equipment according to the present invention includes an upper structure that movably supports the optical equipment by a parallel link mechanism while maintaining weight balance, and a plurality of stand devices that interlock with each other. a multi-stage parallel link mechanism in which parallel links are arranged one above the other, one end of the uppermost parallel link of the multi-stage parallel link mechanism supports the upper structure in a vertically movable manner, and the other end of the lower balance link A counterweight is provided in the upper part to offset the weight of the upper structure.

<Embodiment> A preferred embodiment of the present invention will be described below with reference to FIGS. 1 to 10 (
The explanation will be based on c). First, we will explain the initial configuration,
Each operation will be explained later.

Reference numeral 21 denotes a center shaft, which is rotatably supported within the inclined holding portion 22 via a bearing. The front side (direction A in the figure) of the center shaft 21 is cut into a plate shape, and the side proximal end portions 26.26 of the parallel link mechanism 25 consisting of parallel links 23.24 are attached to this plate-shaped portion. be.

A rotation fulcrum 2 is provided at the tip 27 of this parallel link mechanism 25.
A rotating piece 29 serving as a "support part" is attached to the rotating piece 29, which can be rotated horizontally about a shaft 31. A second rotary plate 32 is further attached to the tip of the first rotary plate 30 so as to be horizontally rotatable about a shaft 33. A surgical microscope 34 serving as a "medical optical device" is attached to a position directly below this second rotating plate 32 via a hanging arm 35.

The surgical microscope 34 can be tilted and supported from a vertical position to tilt angles of 45° and 90° around a rotational fulcrum 36 of a hanging arm 35. The focal point f of the surgical microscope 34 supported in this way is when the surgical microscope 34 is in the vertical state 45
Regardless of whether it is in the 90° tilted state or the 90' tilted state, it is always located on the vertical line S passing through the rotation fulcrum 28. The details will be described later. However,
The focal point r of this surgical microscope 34 is positioned on the extension line connecting the side proximal ends 26, 26 of the parallel link mechanism 25, that is, on the axial extension line of the center shaft 21, so that the parallel link mechanism 25 Even if , the position of the focal point f does not change. In addition, 37 is an operation handle for the surgical microscope 3.
This is used when moving (swinging) 4. Attachment portions 38 are provided at the proximal and distal ends of the rotating piece 29, respectively, for changing the operating handle 37 depending on the position of the operator.

Further, a pendulum-shaped first counterweight W1 that swings about a pivot point 39 is suspended from a rear side (direction B in the figure) of the center shaft 21 and is supported via a swing bar 40 . The first counterweight Wl is provided with an adjustment handle 41, and by rotating the adjustment handle 41, the height position of the first counterweight Wl can be adjusted. A cover 42 covers the first counterweight W1 and the swing bar 40. Then, the upper end 43 of the swing bar 40 and the rear portion of the parallel link 24 are connected by a connecting arm 44 so as to cross the frame, so that the parallel link mechanism 25 and the first counterweight W1 are interlocked. do. The first counterweight W1 configured in this way is connected to the surgical microscope 34 and the parallel link mechanism 2.
5 and the rotational moment of the parallel link mechanism 25 about the center shaft 21, respectively. Furthermore, since the center shaft 21 is tilted by the angle α, the first counterweight W1 and the like are excluded from the surgical area, and a wide and free surgical area can be sufficiently secured for the operator.

Further, on the upper surface of the cover 42 for the first counterweight Wl, a second counterweight W2 that swings in a substantially horizontal direction via another swing bar 45 is disposed while being covered with a cover 46. ing.

The base end of the swing bar 45 for the second counterway (W2) is fixed to a pivot shaft 47, and the pivot shaft 47 is connected to the It is designed to interlock with a rotatable disc 49 located on the side near the rear end of the center shirt 21. Then, the base end portion 26 of the parallel link mechanism 250
Discs 51 to 53 similar to the disc 49 are rotatably disposed in the vicinity, the joint portion 50 of the parallel link machine tJI25, and the tip end 27 of the parallel link mechanism 25.

These discs 49, 51 to 53 are connected to each other by a pair of linkers 54, so that rotational force can be transmitted. A disk 53 at the tip 27 of the parallel link mechanism 25 is connected to another pivot shaft 56 fixed to the rotating piece 29 by a bevel gear 55 similar to that described above.

Therefore, when the rotating piece 29 is rotated in the horizontal direction, this rotational force is transferred from the aforementioned pivot shaft 56 to bevel gear 55 to
The swing bar 45 (i.e., the second counterweight W2) is rotated in the opposite direction to the rotating piece 29 via the disc 53 → disc 52 → disc 51 → disc 49 → bevel gear 48 → pivot shaft 47. The rotational moment about the center shaft 21 caused by the rotation of the rotation piece 29 is offset. And this second counterweight W
2 is also provided with an adjustment handle 57, and by rotating this adjustment handle 57, the position of the second counterweight W2 can be adjusted to the tilt angle of the surgical microscope 34 (vertical, 45
degree, 90°). A portion of the cover 46 along which the second counterweight W2 swings is in an open state, and a stand 58 is vertically formed on the upper surface thereof. This stand 58 has marks (memories) 5 corresponding to each of the three tilt angles.
9 are provided at three locations, and by aligning the reference mark of the second counterweight W2 facing through the slit 58 with each of these marks 59, the three stages of adjustment by the adjustment handle 57 of the second counterweight W2 can be performed. It can be done easily and accurately.

The following points are the most important features of the present invention.

That is, the holding part 22 that rotatably supports the center shaft 21 is provided with a cylindrical part 60 rotatable through a bearing on the lower side, and this cylindrical part 60 connects to the multi-stage parallel link mechanism 61. It is connected to the. That is, the holding part 22 and the cylindrical part 60 are provided as part of the multi-stage parallel link mechanism 61, and the multi-stage parallel link mechanism 61 supports all structures (weight) above the center shaft 21 in a vertically movable manner. This multi-stage parallel link mechanism 61 is pivotally supported by a stand shaft section 63 rotatably installed on a stand base 62, and includes a pair of left and right upper parallel links 64 and a lower parallel link arranged vertically. It consists of 65. The lower parallel link 65 is the stand shaft part 6
The upper parallel link 64 is supported above the lower parallel link 65 by a rotation shaft 68 near the upper end of the stand shaft portion 63. The upper parallel link 64 and the lower parallel link 6
5 are connected to each other by a connecting link 69, so that they interlock with each other. Further, at the rear end of the lower parallel link 65, there is a structure (hereinafter referred to as
A third counterweight W3 is arranged to offset the weight of the "superstructure". An adjustment handle 70 similar to that described above is also attached to this third counterway W3. This multi-stage parallel link mechanism 61 has the lower parallel link 65 and the upper parallel link 64 placed one above the other in this way, so that if one parallel link is to be used to support the upper parallel link 64, the upper parallel link 64 will be held substantially longer. Part 22
distance from to rotation axis 68) i! , 1 and the actual length of the lower parallel link 65 (the distance from the rotation axis 68 to the third counterweight W3) 22, the rotation axis 68 and rotation Overlapping distance of axis 67 1
The length size can be shortened by 3, making the entire stand device smarter, and since the third counterweight W3 does not protrude backwards, it is less likely to interfere with surrounding people or equipment, which is good from a safety standpoint. . Note that 71 is another connecting link for reinforcing the lower parallel links 65 together. A cover 72 covers the stand shaft portion 63 and the lower parallel link 65. Also, 73.
74 are bellows, respectively, for vertical movement of the upper parallel link 64;
It expands and contracts following the vertical movement of the third counterway 1-W3, and prevents the inside of the cover 72 from being exposed. And 75 is an operation panel.

Furthermore, each operating (indirect) part of this stand device is equipped with an electromagnetic clutch (not shown) to lock and lock each part.
Free state can be arbitrarily selected using a foot swing (not shown), etc.
It can be operated.

Next, each operation of the stand device will be explained.

Back and forth movement (A-B direction in the figure) As shown in FIG. 6, when the surgical microscope 34 is pushed in the back and forth direction, the stand shaft section 63 and the cylinder section 60 follow and rotate by an appropriate angle accordingly. Then, the angles θ1 and θ between the parallel link mechanism 25 and the surgical microscope 34 during forward and backward movement.
The change in 2 is also due to the rotating piece 29 supporting the surgical microscope 34.
Since the surgical microscope 34 can be automatically adjusted by rotating in the F direction, the surgical microscope 34 can be moved back and forth (parallel movement) while keeping the observation angle constant.

Vertical Movement (Direction C in the Figure) When the surgical microscope 34 is pushed in the vertical direction, the "upper structure" easily moves up and down due to the deformation of the multi-stage parallel link mechanism 61 in an unloaded state balanced with the third counterweight W3.

Left and right movement (direction D in the figure) As shown in FIG. The angle change between the parallel link mechanism 25 and the surgical microscope 34 during movement also
Since automatic adjustment is possible by rotating the rotary piece 29 supporting the surgical microscope 34 in the F direction, the surgical microscope 34 can be translated in the left-right direction while keeping the observation angle constant.

(See Figure 4) The focal point f of the surgical microscope 34 is located at the proximal end 2 of the parallel link mechanism 25.
6. On the extension line connecting 26, that is, the center shaft 21
Since the focal point f is positioned on the axial extension of the parallel link 25, the focal point f remains fixed at one point even if the parallel link 25 is deformed (rotated). Therefore, it is possible to arbitrarily adjust the viewing angle in the direction along the parallel link mechanism 25. At this time, since the first counterweight W1 swings by an angle corresponding to the deformation of the parallel link mechanism 25, the surgical microscope 3
4 and the parallel link mechanism 25 are offset by the first counterweight W1, and the weight balance is automatically maintained.

In addition, the position of the first counterway) Wl is the position of the surgical microscope 3.
It is necessary to adjust the adjustment handle 41 according to the accessories (for example, a microscope for an assistant, a video camera, etc.) that are loaded on the adjustment handle 41.

Rotational movement around the center shaft (direction E in the figure) When the surgical microscope 34 is swung in the rotational direction around the center shaft 21, it rotates together with the parallel link mechanism 25, but the first counterweight W1 also rotates along with the swing bar 40. Since it swings in the direction of rotation, the weight balance is maintained, and the surgical microscope 34 stops at the rotated movement position.

By rotating the rotating piece 29, the surgical microscope 34 can be horizontally rotated in the direction F, and, for example, the surgical microscope 34 can be rotated once around the patient's head 76. .

Even when the rotating piece 29 is no longer positioned along the longitudinal direction of the parallel link mechanism 25 (especially when it protrudes in a direction perpendicular to the parallel link mechanism 25), the rotating piece 29 can be rotated. Depending on the movement, the disks 49, 51 to 53,
With link par 54, bevel gear 48.55, etc., the second
Since the counterweight W2 swings to the opposite side, the weight balance is maintained when the rotating piece 29 is rotated, and rotation in the E direction about the center shaft 21 does not occur.

Changing the observation angle by tilting the handheld microscope The surgical microscope 34 may have to change the observation angle significantly depending on the affected area of the patient.

For example, in the case of brain surgery, etc., there are cases where the top part of the head 76 is operated on, and cases where the side part of the head 76 is operated on.

The stand device according to this embodiment solves this problem with two first
・It was decided to perform this using the second rotating plate 30.32. That is, vertical support: Both the first and second rotating plates 30, 32 are in a state facing inward (toward the rotating portion 28 of the rotating piece 29) [see FIG. 8].

45° Support: First, the surgical microscope 34 in a vertically supported state is tilted at 45° about the rotation fulcrum 36 [FIG. 9(A)].

The distance 14 between the focal point f' at this time and the vertical line S where the original focal position f was located is exactly twice the distance i5 between the vertical line S and the vertical line of the axis 33.

Therefore, if the second rotating plate 32 is rotated 180 degrees around the shaft 33, the focal point f'' will coincide with the vertical line S [Figure 9 (b)
]. Then, the rotation piece 29 is further moved 18 times around the rotation fulcrum 28.
If you rotate it by 0", even if you tilt it by 45",
The focal point f' is located on the same vertical line S and can be observed from the same direction as in the vertically supported state [Fig. 9 (
c)].

Therefore, by simply moving the surgical microscope 34 up and down slightly using a vertical mechanism (not shown) attached to the surgical microscope 34 itself, the same location as the original focal point f can be observed.

90° support: The surgical microscope 34 in a vertically supported state is rotated 90 degrees around the rotation fulcrum 36.
Tilt it to 0' [Figure 1O (a)]. The focus f at this time
The distance 26 between the vertical line S and the vertical line S is exactly twice the distance 17 between the vertical line S and the vertical line of the axis 31. Therefore, the first
If the rotary plate 30 is rotated 180 degrees around the shaft 31, the focal point f' will coincide with the vertical line S [FIG. 10(b)]. Then, if the rotating piece 29 is further rotated 180 degrees around the rotation fulcrum 28, the focal point f will be located on the same vertical line S, even though it is tilted 90 degrees, similar to the previous 45 degree support. Moreover, it can be observed from the same direction as in the vertically supported state.
Figure 10 (c)].

In the above description, the multi-stage parallel link mechanism 61 with two stages, upper and lower, was taken as an example, but it may have three or more stages. Furthermore, although a surgical microscope has been described as an example of a "medical optical device," the present invention is not limited to this, and can be widely applied to various medical laser devices and the like. Further, although this embodiment uses a floor stand type, similar effects can be obtained with a ceiling suspended stand type.

<Effects> Since the stand device for medical optical equipment according to the present invention has the content as described above, it can produce the following effects.

(a) One end of the uppermost parallel link of the multi-stage parallel link mechanism supports the arm main body in a vertically movable manner, and a counterweight is provided at the other end of the lower balance link to offset the weight of the arm main body. , the entire upper structure above the center shaft can be easily moved up and down. Moreover,
The entire stand device can be made smarter, and since the counterweight does not protrude rearward, it is less likely to interfere with surrounding people or equipment, which is preferable from the standpoint of safety.

According to the embodiment of the present invention, Φ) The weight of the optical device and the parallel link mechanism, and the rotational moment of the parallel link mechanism about the center shaft,
Since the pendulum type counterweight is used to offset the weight, the structure is simple and smooth weight balance can be achieved without abnormal noise or tension. In addition, since a rotatable center shaft is employed, a counterweight in the rotation direction is not required for the balance of the parallel link mechanism, etc., and the structure is extremely simplified.

(C) Even if the parallel link mechanism is deformed, the focus of the medical optical device remains unchanged (fixed at one point), and the focus will not shift during the operation of the parallel link mechanism, making it easy to focus the medical optical device. This eliminates the need for additional time for surgery, resulting in a significant reduction in surgical time, etc. In addition, since the affected area can be observed from various angles with the focus fixed at one point, the affected area can be observed from the optimal position (direction), and operations such as surgery can be performed more reliably and quickly.

(d) Since the rotation moment around the center shaft caused by the rotation of the support part is offset by the counterweight, even if the support part supporting a heavy medical optical device is rotated in the horizontal direction, A medical optical device can be stopped at any desired rotational position without losing the weight balance around the center shaft.

(e) By rotating the first rotating plate or the second rotating plate 180° horizontally, the focal point of the optical instrument tilted and supported at 45° or 90° matches the focal position in the vertically supported state. Therefore, the medical optical equipment can be used at the optimal observation angle, and since the focal point is located on the same vertical line, the time required to focus the medical optical equipment is shortened, significantly shortening the surgical time, etc. It will be possible to achieve this.

[Brief explanation of the drawing]

FIG. 1 is an overall perspective view showing a stand device for medical optical equipment according to an embodiment of the present invention, and FIG. 2 is a schematic side view showing the weight balance structure of the stand device shown in FIG. The figure is a schematic side view as seen from the direction indicated by the arrow in Figure 2. Figure 4 is an explanatory diagram of the operation of the parallel link mechanism showing arbitrary adjustment of the observation angle in the front and rear directions of medical optical equipment. Figure 5 is a rotating piece. FIG. 6 is a schematic plan view of the stand device showing the back and forth movement of the medical optical device; FIG. 7 is the horizontal movement of the medical optical device FIG. 8 is a side view of the medical optical device in a vertically supported state; FIGS. 9(a) to (c) each show the process of changing the angle to 45° support. FIGS. 10A to 10C are side views of the medical optical device, each showing a process of changing the angle to 90' support. 21-・ Center shaft 25-・ Parallel link mechanism 26 ... Base end portion 29 of parallel link mechanism ・- Rotating piece (supporting part) 31-- First rotating plate 33 -... Second rotating plate 34 - Surgical microscope (medical optical equipment) 61 - Multistage parallel link mechanism Wl - First counterweight W2 - Second counterweight W3 - Third counterweight Fig. 3 et al. NI4 Fig. 5 Fig. 9 (A) Figure 9 (b) Figure 9 (c) Figure 10 (b) Figure 10 (c) Procedural amendment (voluntary) June 29, 1988

Claims (1)

[Scope of Claims] An upper structure that movably supports an optical device using a parallel link mechanism while maintaining weight balance, and a multi-stage parallel link mechanism that has a plurality of mutually interlocking parallel links stacked one on top of the other, One end of the uppermost parallel link of the multi-stage parallel link mechanism supports the upper structure in a vertically movable manner, and the other end of the lower balance link is provided with a counterweight for offsetting the weight of the upper structure. A stand device for medical optical equipment.